Stereo Tracking and Three-Point/One-Point Algorithms - A Robust Approach in Visual Odometry

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Ni, Kai
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http://hdl.handle.net/1853/38538
Abstract
In this paper, we present an approach of calculating visual odometry for outdoor robots equipped with a stereo rig. Instead of the typical feature matching or tracking, we use an improved stereo-tracking method that simultaneously decides the feature displacement in both cameras. Based on the matched features, a three-point algorithm for the resulting quadrifocal setting is carried out in a RANSAC framework to recover the unknown odometry. In addition, the change in rotation can be derived from infinity homography, and the remaining translational unknowns can be obtained even faster consequently . Both approaches are quite robust and deal well with challenging conditions such as wheel slippage.
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2006-10
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